SHARED CONTROL OF SEMI-AUTONOMOUS VEHICLES INCLUDING COLLISION AVOIDANCE IN MULTI-AGENT SCENARIOS
First Claim
1. A method of providing shared control over movement of a vehicle within a space, comprising:
- receiving user input related to a velocity for the vehicle within the space;
processing the user input with a local motion planner selectively adjusting the velocity based on a set of predefined constraints and presence of neighboring vehicles in the space to generate a trajectory for the vehicle in the space;
communicating motion control signals including the trajectory to the vehicle; and
operating drive mechanisms in the vehicle based on the motion control signals to move the vehicle from a first position to a second position within the space for an upcoming time period.
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Accused Products
Abstract
A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.
113 Citations
30 Claims
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1. A method of providing shared control over movement of a vehicle within a space, comprising:
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receiving user input related to a velocity for the vehicle within the space; processing the user input with a local motion planner selectively adjusting the velocity based on a set of predefined constraints and presence of neighboring vehicles in the space to generate a trajectory for the vehicle in the space; communicating motion control signals including the trajectory to the vehicle; and operating drive mechanisms in the vehicle based on the motion control signals to move the vehicle from a first position to a second position within the space for an upcoming time period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for controlling vehicle movement through a drive or air space, comprising:
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with a controller, receiving user input related to a user-preferred trajectory for moving the vehicle within the space; and with the controller, processing the user input to selectively adjust the trajectory based on a set of predefined constraints to generate a control trajectory for the vehicle in the space for an upcoming time period, wherein the set of predefined constraints comprises a grid map of the space that defines locations of obstacles in the space and wherein the processing of the user input includes searching the grid map to identify the obstacles and to define a path from the first position to the second position in the space that avoids the obstacles. - View Dependent Claims (10, 11, 12)
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13. A method for controlling a vehicle in an installation, comprising:
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receiving a user-generated vehicle motion command for the vehicle; determining whether the user-generated vehicle motion command implicates a constraint; when the user-generated vehicle motion command implicates the constraint, combining the user-generated vehicle motion command with a system-generated command to produce a modified vehicle motion command to control movement of the vehicle in the installation; and when the user-generated vehicle motion command does not implicate the constraint, using the user-generated vehicle motion command to control movement of the vehicle in the installation. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. The method of 28, wherein consistency between the vehicle and the guidance trajectory is maintained by adding a motion component that directs the vehicle towards a point within the guidance trajectory for a next time instant.
Specification